version: 66.06
glider: 148
mission: 10
dive: 504
start: 9 23 111 5 45 26
data:
$ID,148
$MISSION,10
$DIVE,504
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,430
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,66
$T_MISSION,660
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-887785.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,92
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,053534,2401.007,-15648.349,6,99.0,26,10.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.4
$GPS2,054432,2400.989,-15648.360,13,1.5,13,10.3
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.117,-0.204
$KALMAN_X,-10426.4,80.5,-107.0,149797.2,-14.4
$KALMAN_Y,-125097.9,-385.6,-220.4,384574.3,56.6
$MHEAD_RNG_PITCHd_Wd,199.5,133405,-19.9,-10.101
$D_GRID,200
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.39,-116.8,0.0,0.0,0,96,0.00,0.00,-73.68,0.000,2,0.000,0.000,408,1921,3313,0,0,0,0,0,0
$GC,99,-1.39,-116.8,4.1,-7.9,10,124,12.25,2.40,-2.10,0.000,4,0.167,0.039,2677,3407,3435,0,0,0,0,0,0
$GC,204,-1.32,-116.8,26.7,-13.3,25,215,0.08,2.47,0.00,0.000,6,0.089,0.025,2699,1870,3435,0,0,0,0,0,0
$GC,482,-1.17,-116.8,63.7,-12.8,51,487,0.15,2.58,0.00,0.000,4,0.107,0.040,2732,289,3436,0,0,0,0,0,0
$GC,543,-1.28,-116.8,71.7,-10.2,55,551,0.00,2.40,0.00,0.000,6,0.000,0.017,2731,1846,3436,0,0,0,0,0,0
$GC,805,-1.28,-116.8,94.4,-7.9,80,810,0.00,2.53,0.00,0.000,4,0.000,0.038,2732,285,3436,0,0,0,0,0,0
$GC,824,-1.34,-116.8,95.6,-7.7,81,830,0.10,2.40,0.00,0.000,6,0.028,0.017,2660,1846,3436,0,0,0,0,0,0
$GC,1095,-1.23,-116.8,125.1,-12.3,106,1100,0.25,2.45,0.00,0.000,4,0.087,0.023,2721,3424,3436,0,0,0,0,0,0
$GC,1117,-1.23,-116.8,128.0,-11.4,107,1123,0.00,2.50,0.00,0.000,6,0.000,0.021,2720,1854,3436,0,0,0,0,0,0
$GC,1381,-1.31,-116.8,151.1,-8.3,132,1385,0.00,2.50,0.00,0.000,4,0.000,0.039,2720,294,3437,0,0,0,0,0,0
$GC,1451,-1.41,-116.8,157.7,-9.2,138,1461,0.12,2.38,0.00,0.000,6,0.025,0.017,2643,1852,3437,0,0,0,0,0,0
$GC,1719,-1.28,-116.8,188.0,-11.7,163,1724,0.25,2.45,0.00,0.000,4,0.086,0.023,2705,3419,3437,0,0,0,0,0,0
$GC,1803,-1.40,-116.8,196.5,-8.9,170,1809,0.00,2.53,0.00,0.000,6,0.000,0.021,2705,1801,3436,0,0,0,0,0,0
$STATE,1854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1854,begin apogee
$GC,1861,-0.31,0.0,200.3,7.6,175,1956,0.93,0.00,91.00,0.568,6,0.067,0.000,2921,1593,2955,0,0,0,0,0,0
$STATE,1956,end apogee,CONTROL_FINISHED_OK
$STATE,1957,begin climb
$GC,1959,1.39,116.8,203.6,0.0,177,2063,1.50,2.35,91.85,0.564,4,0.031,0.051,3312,202,2478,0,0,0,0,0,0
$GC,2349,1.09,159.2,180.8,7.6,202,2390,0.40,2.15,34.85,0.540,6,0.097,0.019,3226,1597,2305,0,0,0,0,0,0
$GC,2651,1.18,234.9,163.2,5.7,231,2726,0.00,2.40,62.33,0.543,4,0.000,0.047,3225,208,1996,0,0,0,0,0,0
$GC,2761,1.20,251.3,155.6,9.1,241,2783,0.10,2.20,15.43,0.500,6,0.079,0.019,3275,1614,1929,0,0,0,0,0,0
$GC,3045,1.20,251.3,125.5,10.8,268,3050,0.10,2.58,0.00,0.000,4,0.123,0.034,3252,3184,1923,0,0,0,0,0,0
$GC,3115,1.28,254.3,118.3,9.9,274,3120,0.00,2.53,0.00,0.000,6,0.000,0.028,3252,1628,1921,0,0,0,0,0,0
$GC,3379,1.40,298.7,95.2,7.5,298,3426,0.17,2.45,39.65,0.499,4,0.051,0.048,3329,178,1736,0,0,0,0,0,0
$GC,3463,1.26,298.7,86.8,12.9,305,3468,0.30,2.22,0.00,0.000,6,0.089,0.021,3262,1586,1736,0,0,0,0,0,0
$GC,3731,1.40,330.5,63.2,8.2,329,3769,0.12,0.00,28.08,0.469,6,0.064,0.000,3321,1589,1606,0,0,0,0,0,0
$GC,4025,1.40,330.5,31.7,11.1,356,4030,0.12,2.60,0.00,0.000,4,0.110,0.031,3294,3199,1603,0,0,0,0,0,0
$GC,4136,1.52,330.5,20.2,10.1,371,4147,0.08,2.60,0.00,0.000,6,0.036,0.028,3346,1608,1599,0,0,0,0,0,0
$STATE,4263,end climb,SURFACE_DEPTH_REACHED
$STATE,4263,begin surface coast
$FINISH,0.4,1.009786
$STATE,4300,end surface coast,CONTROL_FINISHED_OK
$STATE,4300,begin surface
$SM_CCo,4322,46.88,0.433,0,0,1323,400.08
$SM_GC,1.24,0.00,0.00,46.88,0.000,0.000,0.433,412,1962,1323,-11.86,2.60,400.08
$IRIDIUM_FIX,2354.48,-15647.78,171200,040437
$TT8_MAMPS,0.026845
$HUMID,61.18
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.8,45.793
$10V_AH,10.2,52.337
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.650,54.325,363.175,46.875,0.000,28.544,40.882,327.222,0.250,0.000,15.094,727.154,1455.505,373.866,1380.261,973.202,33.354,949.175,0.000,1716.704,0.000,0.540,0.000
$DEVICE_MAMPS,167.206,50.622,567.580,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,264.847,503.637,585.228,601.470,1138.459,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356140
$DATA_FILE_SIZE,32038,395
$CAP_FILE_SIZE,67711,0
$CFSIZE,260165632,108974080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230911,065907,2400.596,-15648.352,5,1.1,11,10.3